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Sub: Separated motor files and frame types

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This commit is contained in:
Rustom Jehangir 2016-02-03 22:18:54 -08:00 committed by Andrew Tridgell
parent 321e92cf4c
commit 771ce2f607
5 changed files with 14 additions and 25 deletions
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4
ArduSub/APM_Config.h
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@ -5,7 +5,7 @@
// If you used to define your CONFIG_APM_HARDWARE setting here, it is no longer // If you used to define your CONFIG_APM_HARDWARE setting here, it is no longer
// valid! You should switch to using a HAL_BOARD flag in your local config.mk. // valid! You should switch to using a HAL_BOARD flag in your local config.mk.
#define FRAME_CONFIG BLUEROV #define FRAME_CONFIG VECTORED_FRAME
/* options: /* options:
* QUAD_FRAME * QUAD_FRAME
* TRI_FRAME * TRI_FRAME
@ -16,6 +16,8 @@
* HELI_FRAME * HELI_FRAME
* SINGLE_FRAME * SINGLE_FRAME
* COAX_FRAME * COAX_FRAME
* BLUEROV_FRAME
* VECTORED_FRAME
*/ */
// uncomment the lines below to disable features (flash sizes listed are for APM2 boards and will underestimate savings on Pixhawk and other boards) // uncomment the lines below to disable features (flash sizes listed are for APM2 boards and will underestimate savings on Pixhawk and other boards)

5
ArduSub/GCS_Mavlink.cpp
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@ -92,11 +92,8 @@ NOINLINE void Sub::send_heartbeat(mavlink_channel_t chan)
MAV_TYPE_ROCKET, MAV_TYPE_ROCKET,
#elif (FRAME_CONFIG == COAX_FRAME) //because mavlink did not define a singlecopter, we use a rocket #elif (FRAME_CONFIG == COAX_FRAME) //because mavlink did not define a singlecopter, we use a rocket
MAV_TYPE_ROCKET, MAV_TYPE_ROCKET,
<<<<<<< 6dafedb2d1ad5061d859a9c319fa4b69b4ac5dd9 #elif (FRAME_CONFIG == BLUEROV_FRAME || FRAME_CONFIG == VECTORED_FRAME)
#elif (FRAME_CONFIG == BLUEROV)
MAV_TYPE_SUBMARINE, MAV_TYPE_SUBMARINE,
=======
>>>>>>> Changed to ArduCopter as the base code.
#else #else
#error Unrecognised frame type #error Unrecognised frame type
#endif #endif

15
ArduSub/Sub.h
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@ -162,11 +162,8 @@ private:
RC_Channel *channel_pitch; RC_Channel *channel_pitch;
RC_Channel *channel_throttle; RC_Channel *channel_throttle;
RC_Channel *channel_yaw; RC_Channel *channel_yaw;
<<<<<<< 6dafedb2d1ad5061d859a9c319fa4b69b4ac5dd9
RC_Channel *channel_forward; RC_Channel *channel_forward;
RC_Channel *channel_strafe; RC_Channel *channel_strafe;
=======
>>>>>>> Changed to ArduCopter as the base code.
// Dataflash // Dataflash
DataFlash_Class DataFlash{FIRMWARE_STRING}; DataFlash_Class DataFlash{FIRMWARE_STRING};
@ -316,11 +313,10 @@ private:
#define MOTOR_CLASS AP_MotorsSingle #define MOTOR_CLASS AP_MotorsSingle
#elif FRAME_CONFIG == COAX_FRAME #elif FRAME_CONFIG == COAX_FRAME
#define MOTOR_CLASS AP_MotorsCoax #define MOTOR_CLASS AP_MotorsCoax
<<<<<<< 6dafedb2d1ad5061d859a9c319fa4b69b4ac5dd9 #elif FRAME_CONFIG == BLUEROV_FRAME
#elif FRAME_CONFIG == BLUEROV #define MOTOR_CLASS AP_MotorsBlueROV6DOF
#define MOTOR_CLASS AP_MotorsBlueROV #elif FRAME_CONFIG == VECTORED_FRAME
======= #define MOTOR_CLASS AP_MotorsVectoredROV
>>>>>>> Changed to ArduCopter as the base code.
#else #else
#error Unrecognised frame type #error Unrecognised frame type
#endif #endif
@ -818,11 +814,8 @@ private:
void sport_run(); void sport_run();
bool stabilize_init(bool ignore_checks); bool stabilize_init(bool ignore_checks);
void stabilize_run(); void stabilize_run();
<<<<<<< 6dafedb2d1ad5061d859a9c319fa4b69b4ac5dd9
bool rov_init(bool ignore_checks); bool rov_init(bool ignore_checks);
void rov_run(); void rov_run();
=======
>>>>>>> Changed to ArduCopter as the base code.
void crash_check(); void crash_check();
void parachute_check(); void parachute_check();
void parachute_release(); void parachute_release();

9
ArduSub/config.h
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@ -88,11 +88,10 @@
# define FRAME_CONFIG_STRING "SINGLE" # define FRAME_CONFIG_STRING "SINGLE"
#elif FRAME_CONFIG == COAX_FRAME #elif FRAME_CONFIG == COAX_FRAME
# define FRAME_CONFIG_STRING "COAX" # define FRAME_CONFIG_STRING "COAX"
<<<<<<< 6dafedb2d1ad5061d859a9c319fa4b69b4ac5dd9 #elif FRAME_CONFIG == BLUEROV_FRAME
#elif FRAME_CONFIG == BLUEROV # define FRAME_CONFIG_STRING "ROV_BLUEROV_FRAME"
# define FRAME_CONFIG_STRING "BLUEROV" #elif FRAME_CONFIG == VECTORED_FRAME
======= # define FRAME_CONFIG_STRING "ROV_VECTORED_FRAME"
>>>>>>> Changed to ArduCopter as the base code.
#else #else
# define FRAME_CONFIG_STRING "UNKNOWN" # define FRAME_CONFIG_STRING "UNKNOWN"
#endif #endif

6
ArduSub/defines.h
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@ -79,10 +79,8 @@ enum aux_sw_func {
#define OCTA_QUAD_FRAME 7 #define OCTA_QUAD_FRAME 7
#define SINGLE_FRAME 8 #define SINGLE_FRAME 8
#define COAX_FRAME 9 #define COAX_FRAME 9
<<<<<<< 6dafedb2d1ad5061d859a9c319fa4b69b4ac5dd9 #define BLUEROV_FRAME 10
#define BLUEROV 10 #define VECTORED_FRAME 11
=======
>>>>>>> Changed to ArduCopter as the base code.
// HIL enumerations // HIL enumerations
#define HIL_MODE_DISABLED 0 #define HIL_MODE_DISABLED 0